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new file mode 100644
index 00000000..186d9394
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diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/Doxyfile b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/Doxyfile
new file mode 100644
index 00000000..6c96db32
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+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
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+WARN_FORMAT = "$file:$line: $text"
+WARN_LINE_FORMAT = "at line $line of file $file"
+WARN_LOGFILE =
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
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+INPUT_ENCODING = UTF-8
+INPUT_FILE_ENCODING =
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+#---------------------------------------------------------------------------
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+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
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+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
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+LATEX_FOOTER =
+LATEX_EXTRA_STYLESHEET =
+LATEX_EXTRA_FILES =
+PDF_HYPERLINKS = YES
+USE_PDFLATEX = YES
+LATEX_BATCHMODE = NO
+LATEX_HIDE_INDICES = NO
+LATEX_BIB_STYLE = plain
+LATEX_EMOJI_DIRECTORY =
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF = NO
+RTF_OUTPUT = rtf
+COMPACT_RTF = NO
+RTF_HYPERLINKS = NO
+RTF_STYLESHEET_FILE =
+RTF_EXTENSIONS_FILE =
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN = NO
+MAN_OUTPUT = man
+MAN_EXTENSION = .3
+MAN_SUBDIR =
+MAN_LINKS = NO
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML = YES
+XML_OUTPUT = xml
+XML_PROGRAMLISTING = YES
+XML_NS_MEMB_FILE_SCOPE = NO
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+GENERATE_DOCBOOK = NO
+DOCBOOK_OUTPUT = docbook
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF = NO
+#---------------------------------------------------------------------------
+# Configuration options related to Sqlite3 output
+#---------------------------------------------------------------------------
+GENERATE_SQLITE3 = NO
+SQLITE3_OUTPUT = sqlite3
+SQLITE3_RECREATE_DB = YES
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD = NO
+PERLMOD_LATEX = NO
+PERLMOD_PRETTY = YES
+PERLMOD_MAKEVAR_PREFIX =
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING = YES
+MACRO_EXPANSION = YES
+EXPAND_ONLY_PREDEF = NO
+SEARCH_INCLUDES = YES
+INCLUDE_PATH =
+INCLUDE_FILE_PATTERNS =
+PREDEFINED =
+EXPAND_AS_DEFINED =
+SKIP_FUNCTION_MACROS = YES
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+TAGFILES =
+GENERATE_TAGFILE =
+ALLEXTERNALS = NO
+EXTERNAL_GROUPS = YES
+EXTERNAL_PAGES = YES
+#---------------------------------------------------------------------------
+# Configuration options related to diagram generator tools
+#---------------------------------------------------------------------------
+HIDE_UNDOC_RELATIONS = YES
+HAVE_DOT = NO
+DOT_NUM_THREADS = 0
+DOT_COMMON_ATTR = "fontname=Helvetica,fontsize=10"
+DOT_EDGE_ATTR = "labelfontname=Helvetica,labelfontsize=10"
+DOT_NODE_ATTR = "shape=box,height=0.2,width=0.4"
+DOT_FONTPATH =
+CLASS_GRAPH = YES
+COLLABORATION_GRAPH = YES
+GROUP_GRAPHS = YES
+UML_LOOK = NO
+UML_LIMIT_NUM_FIELDS = 10
+DOT_UML_DETAILS = NO
+DOT_WRAP_THRESHOLD = 17
+TEMPLATE_RELATIONS = NO
+INCLUDE_GRAPH = YES
+INCLUDED_BY_GRAPH = YES
+CALL_GRAPH = NO
+CALLER_GRAPH = NO
+GRAPHICAL_HIERARCHY = YES
+DIRECTORY_GRAPH = YES
+DIR_GRAPH_MAX_DEPTH = 1
+DOT_IMAGE_FORMAT = png
+INTERACTIVE_SVG = NO
+DOT_PATH =
+DOTFILE_DIRS =
+DIA_PATH =
+DIAFILE_DIRS =
+PLANTUML_JAR_PATH =
+PLANTUML_CFG_FILE =
+PLANTUML_INCLUDE_PATH =
+DOT_GRAPH_MAX_NODES = 50
+MAX_DOT_GRAPH_DEPTH = 0
+DOT_MULTI_TARGETS = NO
+GENERATE_LEGEND = YES
+DOT_CLEANUP = YES
+MSCGEN_TOOL =
+MSCFILE_DIRS =
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/Makefile b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/Makefile
new file mode 100644
index 00000000..d4bb2cbb
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/Makefile
@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS ?=
+SPHINXBUILD ?= sphinx-build
+SOURCEDIR = .
+BUILDDIR = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+ @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+ @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/css/extra.css b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/css/extra.css
new file mode 100644
index 00000000..1ba3d62e
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/css/extra.css
@@ -0,0 +1,189 @@
+/* extra.css
+see: https://github.com/squidfunk/mkdocs-material/blob/master/src/templates/assets/stylesheets/palette/_scheme.scss
+*/
+
+.center {
+ display: block;
+ margin: 0 auto;
+}
+
+/*
+Nervosys tripartite color scheme:
+ violet: #5000cd
+ magenta: #ff008a
+ seafoam: #00ffcd
+*/
+
+/* Template
+
+ // Indicate that the site is rendered with a dark color scheme
+ color-scheme: dark;
+
+ // Default color shades
+ --md-default-fg-color: hsla(var(--md-hue), 15%, 90%, 0.82);
+ --md-default-fg-color--light: hsla(var(--md-hue), 15%, 90%, 0.56);
+ --md-default-fg-color--lighter: hsla(var(--md-hue), 15%, 90%, 0.32);
+ --md-default-fg-color--lightest: hsla(var(--md-hue), 15%, 90%, 0.12);
+ --md-default-bg-color: hsla(var(--md-hue), 15%, 14%, 1);
+ --md-default-bg-color--light: hsla(var(--md-hue), 15%, 14%, 0.54);
+ --md-default-bg-color--lighter: hsla(var(--md-hue), 15%, 14%, 0.26);
+ --md-default-bg-color--lightest: hsla(var(--md-hue), 15%, 14%, 0.07);
+
+ // Code color shades
+ --md-code-fg-color: hsla(var(--md-hue), 18%, 86%, 0.82);
+ --md-code-bg-color: hsla(var(--md-hue), 15%, 18%, 1);
+
+ // Code highlighting color shades
+ --md-code-hl-color: hsla(#{hex2hsl($clr-blue-a400)}, 1);
+ --md-code-hl-color--light: hsla(#{hex2hsl($clr-blue-a400)}, 0.1);
+
+ // Code highlighting syntax color shades
+ --md-code-hl-number-color: hsla(6, 74%, 63%, 1);
+ --md-code-hl-special-color: hsla(340, 83%, 66%, 1);
+ --md-code-hl-function-color: hsla(291, 57%, 65%, 1);
+ --md-code-hl-constant-color: hsla(250, 62%, 70%, 1);
+ --md-code-hl-keyword-color: hsla(219, 66%, 64%, 1);
+ --md-code-hl-string-color: hsla(150, 58%, 44%, 1);
+ --md-code-hl-name-color: var(--md-code-fg-color);
+ --md-code-hl-operator-color: var(--md-default-fg-color--light);
+ --md-code-hl-punctuation-color: var(--md-default-fg-color--light);
+ --md-code-hl-comment-color: var(--md-default-fg-color--light);
+ --md-code-hl-generic-color: var(--md-default-fg-color--light);
+ --md-code-hl-variable-color: var(--md-default-fg-color--light);
+
+ // Typeset color shades
+ --md-typeset-color: var(--md-default-fg-color);
+
+ // Typeset `a` color shades
+ --md-typeset-a-color: var(--md-primary-fg-color);
+
+ // Typeset `kbd` color shades
+ --md-typeset-kbd-color: hsla(var(--md-hue), 15%, 90%, 0.12);
+ --md-typeset-kbd-accent-color: hsla(var(--md-hue), 15%, 90%, 0.2);
+ --md-typeset-kbd-border-color: hsla(var(--md-hue), 15%, 14%, 1);
+
+ // Typeset `mark` color shades
+ --md-typeset-mark-color: hsla(#{hex2hsl($clr-blue-a200)}, 0.3);
+
+ // Typeset `table` color shades
+ --md-typeset-table-color: hsla(var(--md-hue), 15%, 95%, 0.12);
+ --md-typeset-table-color--light: hsla(var(--md-hue), 15%, 95%, 0.035);
+
+ // Admonition color shades
+ --md-admonition-fg-color: var(--md-default-fg-color);
+ --md-admonition-bg-color: var(--md-default-bg-color);
+
+ // Footer color shades
+ --md-footer-bg-color: hsla(var(--md-hue), 15%, 10%, 0.87);
+ --md-footer-bg-color--dark: hsla(var(--md-hue), 15%, 8%, 1);
+
+*/
+
+/* nervosys: light mode */
+[data-md-color-scheme="nervosys_light"] {
+
+ color-scheme: light;
+
+ /* primary color shades */
+ --md-primary-fg-color: #5000cd;
+ --md-default-bg-color: #ffffff;
+ --md-primary-bg-color: hsla(0, 0%, 100%, 1);
+
+ /* text color shades */
+ --md-typeset-color: #000000;
+ --md-text-link-color: hsla(168, 100%, 50%, 1);
+
+ /* accent color shades */
+ --md-accent-fg-color: hsl(263, 100%, 30%);
+ --md-accent-fg-color--transparent: hsla(189, 100%, 37%, 0.1);
+ --md-accent-bg-color: hsla(0, 0%, 100%, 1);
+}
+
+[data-md-color-scheme="nervosys_light"] > * {
+
+ /* code block color shades */
+ --md-code-fg-color: hsla(200, 18%, 26%, 1);
+ --md-code-bg-color: hsla(0, 0%, 96%, 1);
+
+ /* footer */
+ --md-footer-fg-color: hsla(0, 0%, 100%, 1);
+ --md-footer-bg-color: #5000cd;
+}
+
+/* nervosys: dark mode */
+[data-md-color-scheme="nervosys_dark"] {
+
+ color-scheme: dark;
+
+ /* primary color shades */
+ --md-primary-fg-color: #ff008a;
+ --md-default-fg-color: hsl(0, 0%, 50%);
+ --md-default-fg-color--light: hsl(0, 0%, 60%);
+ --md-default-fg-color--lighter: hsl(0, 0%, 90%);
+ --md-default-fg-color--lightest: hsl(0, 0%, 10%); /* background */
+
+ --md-primary-bg-color: hsl(0, 0%, 100%); /* header */
+ --md-default-bg-color: hsl(0, 14%, 4%);
+
+ /* text color shades */
+ --md-typeset-color: hsl(0, 0%, 90%);
+ --md-typeset-a-color: hsl(328, 100%, 50%); /* links */
+ --md-text-link-color: hsla(168, 100%, 50%, 1);
+
+ /* accent color shades */
+ --md-accent-fg-color: hsl(328, 100%, 40%);
+ --md-accent-fg-color--transparent: hsla(189, 100%, 37%, 0.9);
+ --md-accent-bg-color: hsl(0, 0%, 50%);
+}
+
+[data-md-color-scheme="nervosys_dark"] > * {
+
+ /* code color shades */
+ --md-code-fg-color: hsl(200, 18%, 74%);
+ --md-code-bg-color: hsl(0, 0%, 10%);
+
+ /* code highlighting color shades */
+ --md-code-hl-color: hsl(200, 18%, 54%);
+ --md-code-hl-color--light: hsl(200, 18%, 64%);
+
+ /* Code highlighting syntax color shades */
+ --md-code-hl-number-color: hsl(0, 74%, 60%);
+ --md-code-hl-special-color: hsl(340, 83%, 60%);
+ --md-code-hl-function-color: hsl(290, 57%, 60%);
+ --md-code-hl-constant-color: hsl(250, 62%, 70%);
+ --md-code-hl-keyword-color: hsl(220, 66%, 70%);
+ --md-code-hl-string-color: hsl(30, 100%, 60%);
+ --md-code-hl-name-color: hsl(210, 80%, 70%);
+ --md-code-hl-operator-color: hsl(250, 100%, 90%);
+ --md-code-hl-punctuation-color: hsl(320, 100%, 70%);
+ --md-code-hl-comment-color: hsl(0, 0%, 50%);
+ --md-code-hl-generic-color: hsl(150, 100%, 50%);
+ --md-code-hl-variable-color: hsl(200, 100%, 70%);
+
+ /* typeset color shades */
+ /*
+ --md-typeset-color: hsl(0, 0%, 90%);
+ --md-typeset-a-color: hsl(0, 0%, 50%);
+ */
+
+ /* typeset `kbd` color shades */
+ --md-typeset-kbd-color: hsl(200, 15%, 70%);
+ --md-typeset-kbd-accent-color: hsl(200, 15%, 80%);
+ --md-typeset-kbd-border-color: hsl(200, 15%, 90%);
+
+ /* typeset `mark` color shades */
+ --md-typeset-mark-color: hsl(200, 18%, 34%);
+
+ /* typeset `table` color shades */
+ --md-typeset-table-color: hsl(200, 15%, 95%);
+ --md-typeset-table-color--light: hsl(200, 15%, 75%);
+
+ /* admonition color shades */
+ --md-admonition-fg-color: hsl(0, 0%, 80%);
+ --md-admonition-bg-color: hsl(0, 0%, 06%);
+
+ /* footer */
+ --md-footer-fg-color: hsla(0, 0%, 100%, 1);
+ --md-footer-bg-color: #ff008a;
+ /* --md-footer-bg-color--dark: hsl(328, 100%, 30%); */
+}
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Black.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Black.ttf
new file mode 100644
index 00000000..0112e7da
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diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-BlackItalic.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-BlackItalic.ttf
new file mode 100644
index 00000000..b2c6aca5
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diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Bold.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Bold.ttf
new file mode 100644
index 00000000..43da14d8
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Bold.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-BoldItalic.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-BoldItalic.ttf
new file mode 100644
index 00000000..bcfdab43
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-BoldItalic.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Italic.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Italic.ttf
new file mode 100644
index 00000000..1b5eaa36
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Italic.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Light.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Light.ttf
new file mode 100644
index 00000000..e7307e72
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Light.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-LightItalic.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-LightItalic.ttf
new file mode 100644
index 00000000..2d277afb
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-LightItalic.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Medium.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Medium.ttf
new file mode 100644
index 00000000..ac0f908b
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Medium.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-MediumItalic.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-MediumItalic.ttf
new file mode 100644
index 00000000..fc36a478
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-MediumItalic.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Regular.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Regular.ttf
new file mode 100644
index 00000000..ddf4bfac
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Regular.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Thin.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Thin.ttf
new file mode 100644
index 00000000..2e0dee6a
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-Thin.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-ThinItalic.ttf b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-ThinItalic.ttf
new file mode 100644
index 00000000..084f9c0f
Binary files /dev/null and b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/fonts/Roboto-ThinItalic.ttf differ
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/js/extra.js b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/js/extra.js
new file mode 100644
index 00000000..f39b165b
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/js/extra.js
@@ -0,0 +1,3 @@
+// if (window.matchMedia && window.matchMedia('(prefers-color-scheme: dark)').matches) {
+// // dark mode
+// }
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/js/mathjax.js b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/js/mathjax.js
new file mode 100644
index 00000000..e69de29b
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/media/diagrams/mavlink/Design.dgml b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/media/diagrams/mavlink/Design.dgml
new file mode 100644
index 00000000..57961395
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/media/diagrams/mavlink/Design.dgml
@@ -0,0 +1,138 @@
+
+
+
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\ No newline at end of file
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/media/diagrams/mavlink/FtpDesign.dgml b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/media/diagrams/mavlink/FtpDesign.dgml
new file mode 100644
index 00000000..25f7fa8d
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/media/diagrams/mavlink/FtpDesign.dgml
@@ -0,0 +1,115 @@
+
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\ No newline at end of file
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/media/diagrams/mavlink/OffboardControl.dgml b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/media/diagrams/mavlink/OffboardControl.dgml
new file mode 100644
index 00000000..0e1e97d1
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/_static/media/diagrams/mavlink/OffboardControl.dgml
@@ -0,0 +1,78 @@
+
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index 00000000..bb75bd87
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/conf.py
@@ -0,0 +1,358 @@
+# -*- coding: utf-8 -*-
+#
+# conf.py
+#
+# Sphinx configuration file for Doxygen XML -> Breathe -> Sphinx
+#
+# Generate XML on Windows: `. "C:\Program Files\doxygen\bin\doxygen.exe" ".\Doxyfile"`
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+#
+# Copyright 2024 Nervosys, LLC
+#
+
+
+# -- Path setup --------------------------------------------------------------
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath("./ext/breathe/"))
+
+import sphinx_immaterial
+
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = "AutonomySim C++ API"
+copyright = "Copyright © 2024 Nervosys, LLC"
+author = "Nervosys"
+
+# short X.Y version
+# version = __version__
+version = ""
+# full version, including alpha/beta/rc tags
+# release = version
+release = ""
+
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+# If your documentation needs a minimal Sphinx version, state it here.
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+ "sphinx.ext.autodoc",
+ "sphinx.ext.autosummary",
+ "sphinx.ext.autosectionlabel",
+ "sphinx.ext.doctest",
+ "sphinx.ext.duration",
+ "sphinx.ext.intersphinx",
+ "sphinx.ext.inheritance_diagram",
+ "sphinx.ext.todo",
+ "sphinx.ext.mathjax",
+ "sphinx.ext.coverage",
+ "sphinx.ext.napoleon",
+ "sphinx.ext.viewcode",
+ "sphinx_immaterial",
+ "breathe",
+ "exhale",
+]
+
+autodoc_default_flags = ["members"]
+autosummary_generate = True
+autosectionlabel_prefix_document = True
+autosectionlabel_maxdepth = 4
+
+# Breathe Configuration
+breathe_projects = {"AutonomyLib": "./doxyxml/xml"}
+# breathe_projects_source = {"AutonomyLib": "./doxyxml/xml"}
+breathe_default_project = "AutonomyLib"
+# breathe_default_members = ("members", "undoc-members")
+
+exhale_args = {
+ # These arguments are required
+ "containmentFolder": "./api",
+ "rootFileName": "library_root.rst",
+ "doxygenStripFromPath": "..",
+ # Heavily encouraged optional argument (see docs)
+ # "rootFileTitle": "C++ Library API",
+ # Suggested optional arguments
+ "createTreeView": True,
+ # TIP: if using the sphinx-bootstrap-theme, you need
+ # "treeViewIsBootstrap": True,
+ "exhaleExecutesDoxygen": False,
+ # "exhaleDoxygenStdin": "INPUT = ../include"
+}
+
+# Tell sphinx what the primary language being documented is.
+primary_domain = "cpp"
+
+# Tell sphinx what the pygments highlight language should be.
+highlight_language = "cpp"
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+# source_suffix = ['.rst', '.md']
+source_suffix = ".rst"
+
+# The master toctree document.
+master_doc = "index"
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages. This is also used if you do content
+# translation via gettext catalogs. Usually you set "language" from the
+# command line for these cases.
+language = "en"
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+
+# The name of the Pygments (syntax highlighting) style to use.
+# See all: `python -c "import pygments; from pygments.styles import get_all_styles; print(list(get_all_styles()))"`
+pygments_style = None # "monokai"
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+# https://jbms.github.io/sphinx-immaterial/customization.html
+# see `theme.conf` for more information
+
+# Title; default: v documentation
+html_title = project
+
+# The theme to use for HTML and HTML Help pages. See the documentation for
+# a list of builtin themes.
+# html_theme = 'alabaster'
+html_theme = "sphinx_immaterial"
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+# Output file base name for HTML help builder.
+sphinx_immaterial_external_resource_cache_dir = "_static/fonts"
+
+# custom CSS file
+html_css_files = [
+ "css/extra.css",
+]
+
+# custom JS file
+html_js_files = [
+ "js/extra.css",
+]
+
+# style override
+html_style = "css/extra.css"
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further. For a list of options available for each theme, see the
+# documentation.
+# html_theme_options = {}
+html_theme_options = {
+ "site_url": "https://nervosys.github.io/AutonomySim",
+ "repo_url": "https://github.com/nervosys/AutonomySim",
+ "repo_name": "AutonomySim",
+ "edit_uri": "edit/master/docs",
+ "globaltoc_collapse": True,
+ "toc_title_is_page_title": False,
+ "version_dropdown": True,
+ # "version_info": [
+ # {
+ # "version": "https://nervosys.github.io/AutonomySim",
+ # "title": "Main",
+ # "aliases": [],
+ # },
+ # ],
+ "features": [
+ "announce.dismiss",
+ "content.code.annotate",
+ "content.code.copy",
+ "content.tabs.link",
+ # 'header.autohide',
+ # 'mkdocstrings',
+ "navigation.expand",
+ # 'navigation.instant',
+ "navigation.top",
+ # 'navigation.tabs',
+ # 'navigation.sections',
+ "navigation.instant",
+ "navigation.path",
+ "navigation.footer",
+ # 'navigation.tracking',
+ # 'search.highlight',
+ "search.suggest",
+ "search.share",
+ "toc.follow",
+ "toc.integrate",
+ ],
+ "font": {
+ "text": "Roboto",
+ "code": "Roboto Mono",
+ },
+ # "language": "en",
+ "palette": [
+ # {
+ # "media": "(prefers-color-scheme)",
+ # "toggle": {
+ # "icon": "material/brightness-auto",
+ # "name": "Switch to light mode",
+ # },
+ # },
+ {
+ "media": "(prefers-color-scheme: light)",
+ "scheme": "nervosys_light",
+ "toggle": {
+ "icon": "material/brightness-7",
+ "name": "Switch to dark mode",
+ },
+ },
+ {
+ "media": "(prefers-color-scheme: dark)",
+ "scheme": "nervosys_dark",
+ "toggle": {
+ "icon": "material/brightness-4",
+ "name": "Switch to system preference",
+ },
+ },
+ ],
+ # "favicon": "media/images/rune.svg",
+ "icon": {
+ "logo": "material/book-open-page-variant",
+ "repo": "fontawesome/brands/git-alt",
+ "edit": "material/pencil",
+ "view": "material/eye",
+ },
+ "social": [
+ {
+ "icon": "fontawesome/brands/github-alt",
+ "link": "https://github.com/nervosys/AutonomySim",
+ },
+ {
+ "icon": "fontawesome/brands/discord",
+ "link": "https://discord.gg/x84JXYje",
+ },
+ {
+ "icon": "fontawesome/brands/twitter", # x-twitter, square-x-twitter missing in sphinx-immaterial (needs update)
+ "link": "https://x.com/nervosys",
+ },
+ ],
+}
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself. Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = "AutonomySimDoc"
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+# Elements
+latex_elements = {
+ # The paper size ('letterpaper' or 'a4paper').
+ #
+ # 'papersize': 'letterpaper',
+ # The font size ('10pt', '11pt' or '12pt').
+ #
+ # 'pointsize': '10pt',
+ # Additional stuff for the LaTeX preamble.
+ #
+ # 'preamble': '',
+ # Latex figure (float) alignment
+ #
+ # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+# author, documentclass [howto, manual, or own class]).
+latex_documents = [
+ (
+ master_doc,
+ "AutonomySim.tex",
+ "AutonomySim Documentation",
+ "Adam Erickson",
+ "manual",
+ ),
+]
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [(master_doc, "AutonomySim", "AutonomySim Documentation", [author], 1)]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+# dir menu entry, description, category)
+texinfo_documents = [
+ (
+ master_doc,
+ "AutonomySim",
+ "AutonomySim Documentation",
+ author,
+ "AutonomySim",
+ "The simulation engine for autonomous systems",
+ "Miscellaneous",
+ ),
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+# epub_identifier = ''
+
+# A unique identification for the text.
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ["search.html"]
+
+
+# -- Extension configuration -------------------------------------------------
+
+
+# -- Options for intersphinx extension ---------------------------------------
+
+# Example configuration for intersphinx: refer to the Python standard library.
+intersphinx_mapping = {"https://docs.python.org/": None}
+
+
+# -- Options for todo extension ----------------------------------------------
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = True
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/index.rst b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/index.rst
new file mode 100644
index 00000000..37c122b4
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/index.rst
@@ -0,0 +1,17 @@
+.. AutonomyLib documentation master file, created by
+ sphinx-quickstart on Mon Feb 12 15:24:11 2024.
+ You can adapt this file completely to your liking, but it should at least
+ contain the root `toctree` directive.
+
+AutonomyLib
+===========
+
+This page documents `AutonomyLib`_, the C++ library of `AutonomySim`_.
+
+.. _`AutonomySim`: https://github.com/nervosys/AutonomySim
+
+.. toctree::
+ :maxdepth: 2
+
+ about
+ api/library_root
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/make.bat b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/make.bat
new file mode 100644
index 00000000..954237b9
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/docs/make.bat
@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+ set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+ echo.
+ echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+ echo.installed, then set the SPHINXBUILD environment variable to point
+ echo.to the full path of the 'sphinx-build' executable. Alternatively you
+ echo.may add the Sphinx directory to PATH.
+ echo.
+ echo.If you don't have Sphinx installed, grab it from
+ echo.https://www.sphinx-doc.org/
+ exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd
diff --git a/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/include/api/ApiProvider.hpp b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/include/api/ApiProvider.hpp
new file mode 100644
index 00000000..169a5c08
--- /dev/null
+++ b/UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/include/api/ApiProvider.hpp
@@ -0,0 +1,68 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef autonomylib_api_ApiProvider_hpp
+#define autonomylib_api_ApiProvider_hpp
+
+#include "VehicleApiBase.hpp"
+#include "VehicleSimApiBase.hpp"
+#include "WorldSimApiBase.hpp"
+#include "common/utils/UniqueValueMap.hpp"
+#include